feat(autoware_mpc_lateral_controller): add resampled reference trajectory for debug purpose

[kyoichi-sugahara]

Description

Necessary chenge for the PR.

Tests performed

run psim and confimed visualization with rviz

Line Color	Description	Coordinate	Topic Name
🔵 Blue (dotted)	Reference trajectory	World	/control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory
⚪ White	Predicted trajectory	World	/control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_with_delay

Effects on system behavior

Not applicable.

Interface changes

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• [x] I've confirmed the contribution guidelines.
• [x] The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• [ ] The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• [ ] There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.